cmake_minimum_required(VERSION 3.8)
project(robot_base)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(serial REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(sensor_msgs REQUIRED)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

add_executable(robot_base_exec "src/robot_base.cpp")
ament_target_dependencies(robot_base_exec rclcpp serial nav_msgs tf2_ros sensor_msgs)

install(DIRECTORY include
  DESTINATION include)

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME})

install(TARGETS robot_base_exec
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

#导出头文件，让这个功能包的头文件路径记录在这个功能包的cmake配置文件中，方便其他功能包引用
ament_export_include_directories(include)

ament_package()
